Ugh, where to start? First, well done on getting out. 
The long and the short of it is you need to parent your children the way they need to be parented, rather than how other kids are parented/supernanny tells you to/you were parented. That means being (or becoming) attuned to their needs and working with that.
Working out what their actual needs are is the hard part.
So, for example, if your 5yo finds it difficult to make decisions (when getting dressed or choosing breakfast or whatever) remove the need for him to have to make them. If they have problems with transitions (from home to school or vice versa) find a way to support them with those.
It may mean finding ways to make them feel safe/secure, helping them to learn that you can be depended on/that they should depend on you (and not try to be overly independent etc).
For many DC it'll mean they're on a shorter leash than most other kids (keeping them close, keeping their world small and predictable). You'll probably want to find some ways of managing their behaviour that doesn't involve sending to rooms or time outs or anything similar.
And then it's a constant quest to figure out what's going on in their heads so you can address it without them ever knowing.
So much depends on what you're dealing with and trying to achieve. There's lots of resources out there. Try googling for attachment parenting, maybe instinctive parenting too. All the books I know arevaboutbadoption so I'm not sure how much use they'd be.
It's such a huge question, I don't know if that's any use at all. Hope so. Good luck.